In this update, I’m almost done with the chassis, encoder mounting and test connections.
The first batch of Whegs I’ve tried to make using polymorph are mounted on the motor shafts. Good news is that they can easily bear the load of the chassis, breadboard and batteries. Bad news is that my lack of sculpting has clearly been shown in the whegs. They’re a bit out of alignment and not as smooth as I’d hoped on the bottom end. Also the shape of 2 of the whegs are a bit too curved. I’ll need a new method (maybe a mould of some sort ) to fabricate a new set of whegs. Until then here are some pictures of the latest setup of the R-Quad robot.